source: branches/gui/Block-Oriented EML/Control Systems/PID_Id.mso @ 986

#*-------------------------------------------------------------------
* EMSO Model Library (EML) Copyright (C) 2004 - 2007 ALSOC.
*
* This LIBRARY is free software; you can distribute it and/or modify
* it under the therms of the ALSOC FREE LICENSE as available at
* http://www.enq.ufrgs.br/alsoc.
*
* EMSO is distributed under the terms of the ALSOC LICENSE as
* available at http://www.enq.ufrgs.br/alsoc.
*-----------------------------------------------------------------------
* Author: Jonathan Ospino P.
* $Id: PID_id.mso  2012$
*---------------------------------------------------------------------*#

using "types";

Model PID_id

        ATTRIBUTES
        
        Pallete=true;
        Icon="icon/PID";
        Info="== PID Controller block ==";

        PARAMETERS

        #Controller Options
        Controller_Mode as Switcher(Valid=["P","I","D","PI","PD","PID"],Default="PID");

        # PID Parameters
        Kc as Real(Brief="Proportional controller gain");
        TauI as Real(Brief="Integral or reset time",Unit='s');
        TauD as Real(Brief="Derivative time",Unit='s');
        N as Real(Brief="Filter parameter",Unit='1/s', Default=200);


        VARIABLES

        in e as Real(Brief="Deviation error",Protected=true,PosX=0,PosY=0.5);
        Inte as Real(Brief="Integral of the error",Hidden=true,Unit='s');
        ef as Real(Brief="Derivative error filter",Hidden=true);

        P as Real(Brief="Proportional action",Hidden=true);
        I as Real(Brief="Integral or reset action",Hidden=true);
        D as Real(Brief="Final Derivative or anticipative action",Hidden=true);
        out m as Real(Brief="Controller Output",PosX=1, PosY=0.5,Protected=true);


        EQUATIONS

        "Integral of the error"
        diff(Inte)=e;

        "Proportional action"
        P=Kc*e;

        "Integral or reset action"
        I=Kc*(Inte/TauI);

        "Derivative or anticipative action"
        D=Kc*TauD*diff(ef);

        "Error filter"
        (1/N)*diff(ef)=e-ef;
        
        #PID Controller equation
        switch Controller_Mode
                case "P":
                        m=P;
                case "I":
                        m=I;
                case "D":
                        m=D;
                case "PI":
                        m=P+I;
                case "PID":
                        m=P+I+D;
                case "PD":
                        m=P+D;
        end
        
        
        INITIAL

        Inte=0*'s';
        diff(ef)*'s'=0;
#       ef=0;
end


#* 
Notes: 

(1) A simple derivative-filtered approach as in Simulink was implemented.

(2) The controller modes I and D were added for analysis purposes.


Revision Date: 02.09.2013

*#